function [ xyz ] = convert_uvd_to_xyz( uvd )
xRes = 320;
yRes = 240;
xzFactor = 0.7531;
yzFactor = 1.004;

normalizedX = double(uvd(:,:,1)) / xRes - 0.5;
normalizedY = 0.5 - double(uvd(:,:,2)) / yRes;

xyz = zeros(size(uvd));
xyz(:,:,3) = double(uvd(:,:,3));
xyz(:,:,1) = normalizedX .* xyz(:,:,3) * xzFactor;
xyz(:,:,2) = normalizedY .* xyz(:,:,3) * yzFactor;
end

